三自由度绳牵引平面并联机器人力/位控制研究  

Research on Force/Position Control of 3-DOF Planar Wire-driven Parallel Robot

作　　者：张立勋[1] 刘攀[1] 王克义[1] 张今瑜 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《机械设计与研究》2008年第3期22-25,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(60575053);高等学校博士学科点专项科研基金资助项目(20060217024)

摘　　要：针对三自由度平面绳牵引并联机器人在如何保持一定绳张力的条件下实现位置控制的问题进行了仿真研究。利用牛顿-欧拉法建立了机器人的包括电机在内的动力学方程。考虑到系统正常工作时绳需要具有一定的张力,给出了力分解模型,提出了一种力/位并行控制策略:力回路用于控制绳的张力大小,位置回路用于实现末端轨迹跟踪。最后对机器人控制系统进行了仿真分析,仿真结果表明,该控制策略不仅能够解决绳的张力问题,而且满足对轨迹跟踪要求。Taking a 3-DOF planar wire-driven parallel robot as the research object, the comprehensive research was made on how to maintain all wire tensions positive for all motion. Using the Newton-Euler method, the robot dynamics equation was established accordingly. Considering that the wire should have the certain tension when the system worked normally, the force decomposition model was given and one kind of force/position control strategy was proposed that the position loop would realize the end-effector＇s trajectory and the force loop would control the wire tension. Finally the robot control system was simulated and analyzed. The results show that the control strategy not only can solve the problem but also meet the path tracking requirements.

关 键 词：绳牵引力/位控制 并联机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]